Hesai Pandar128, Руководство пользователя

Страница: 7 / 94

- 5 -
1.2 LiDAR Structure
128 pairs of laser emitters and receivers are attached to a motor that rotates horizontally.
Figure 1.2 Partial Cross-Sectional Diagram
Figure 1.3 Coordinate System
(Isometric View)
Figure 1.4 Default Rotation Direction
(Top View)
The LiDAR's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation.
By default, the LiDAR rotates clockwise in the top view. To select counterclockwise rotation, see Section 4.2 (Web Control - Settings).
The origin is shown as a red dot in Figure 1.6 on the next page. All measurements are relative to the origin.
Each laser channel has an intrinsic horizontal angle offset. When Channel 42 passes the zero degree position in Figure 1.4, the azimuth data in
the corresponding UDP data block will be 0°.